I've read this version of Dr. Brooks' commentary on the Gita many times and use its commentary to support exploration of the Gita in teaching aspiring yoga teachers. He actually has a newer version including a student version. However, even though this is not his favorite book I continue to like it and I've used it often. Brooks, an educator and Sanskrit scholar, teaches a householder-based philosophy called Rajanaka Yoga. His art in teaching and commentary is to weave Indian mythology into practicality, to approach the study of yoga and life, be it through the Gita or other commentary, as not one of renunciation, of turning away from the world, but of integrating yoga into fully engaging life.